WO2023177054A1

WO2023177054A1 - Apparatus and method for controlling position of deboning robot

Info

Publication number: WO2023177054A1
Application number: PCT/KR2022/021507
Authority: WO
Inventors: 김승용; 최병홍
Original assignee: 주식회사 홀리카우
Priority date: 2022-03-17
Filing date: 2022-12-28
Publication date: 2023-09-21
Also published as: KR102431085B1

Abstract

Provided is an apparatus for controlling the position of a deboning robot. The apparatus for controlling the position of a deboning robot may comprise: a first sensor unit for acquiring image data including the image of an area in which a cutting part of the deboning robot is in contact with one end surface of a target meat; a control unit for setting a candidate path corresponding to a designated area of the target meat using the acquired image data; and a second sensor unit for measuring the magnitude of the force opposing the angle at which the cutting part of the deboning robot is inserted into the one end surface of the target meat from each joint part of the deboning robot.

Description

Position control device and method for deboning robot

The following description relates to a device and method for controlling the position of a bone robot. More specifically, the position of the deboning robot determines whether the touched area is bone using a matrix operation of the repulsion force or torque measured from contact with a designated part of the target meat, and sets a new detour route for the deboning robot according to the determination result. It relates to a control device and method.

In 2021, the Ministry of Agriculture, Food and Rural Affairs of the Republic of Korea announced that it will designate carcass deboning process robot technology as a high-value food technology development project research project and plan to invest 4.2 billion won. The deboning process, in which meat such as cows and pigs taken from a slaughterhouse is deboned and processed into edible meat parts and supplied to consumers, relies on skilled professionals. However, it is not easy for new workers to enter the industry due to hygiene or work environment reasons, so the professional workforce is increasingly aging. Recently, there has been difficulty in hiring overseas workers due to the aftermath of the COVID-19 pandemic, leading to a shortage of manpower in the industry. This is currently becoming a problem.

Republic of Korea Patent No. 10-1693585 discloses the configuration of a carcass deboning device including a tray on which a carcass containing bones and meat is placed, and a bone position detection unit that detects the bone position within the carcass by radiating X-rays to the carcass. However, the target patent does not disclose any information about the configuration of performing matrix calculations on the repulsion force and torque measured during the contact process of the cutting part of the deboning robot and determining the bone part according to the results.

According to one aspect, a position control device for a deboning robot is provided. The position control device of the deboning robot includes a first sensor unit that acquires image data including a portion where the cutting portion of the deboning robot contacts a cross-section of the target meat, and a designated portion of the target meat using the acquired image data. A control unit that sets a candidate path corresponding to the second sensor unit that measures the magnitude of the force opposing the angle at which the cutting part of the deboning robot is inserted into one cross section of the target meat from each joint of the deboning robot. It can be included.

According to one embodiment, the control unit may modify the candidate path by comparing the magnitude of the force opposing the angle inserted into one cross section of the target meat with a preset threshold.

According to another embodiment, the position control device of the deboning robot may further include a position calculation unit that calculates a plurality of position vectors based on the displacement between the position of the cut portion of the deboning robot and the position of each of the joint parts. .

According to another embodiment, the second sensor unit is inserted into one cross-section of the target meat by performing an operation corresponding to a predetermined equation of motion based on the torques and the position vectors measured at each of the joints. The magnitude of the force opposing the angle can be calculated.

According to another embodiment, when the magnitude of the force opposing the angle inserted into one cross section of the target meat is greater than or equal to the preset threshold, the control unit determines the contacted portion as a bone, A new detour route corresponding to the designated part of the target meat can be set.

According to another embodiment, the control unit determines a preset bypass radius in response to a designated part of the target meat, and causes the cutting unit to move evasively according to the bypass radius around the position determined to be a bone within the candidate path. The candidate path can be modified.

According to another embodiment, the control unit may modify the candidate path so that the cutting unit moves evasively according to a bypass radius set to correspond to the average size of bones present in a designated portion of the target meat.

Figure 1 is an exemplary diagram explaining the position control process of the bone bone robot.

Figure 2 is a block diagram for explaining the position control device of the deboning robot.

Figure 3 is an exemplary diagram showing a candidate path for movement of a deboning robot set to correspond to a split meat portion of a cow.

Figure 4 is a flowchart explaining the process by which the position control device of the deboning robot calculates the repulsion force from a designated part of the target meat and adjusts the candidate path.

Figure 5 is an example diagram explaining a process in which the position control device of the bone robot performs an avoidance movement according to the detour radius.

Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, the embodiments are not limited to the specific disclosed form, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical spirit.

Terms such as first or second may be used to describe various components, but these terms should be interpreted only for the purpose of distinguishing one component from another component. For example, a first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being “connected” to another component, it should be understood that it may be directly connected or connected to the other component, but that other components may exist in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “include” or “have” are intended to designate the presence of a described feature, number, step, operation, component, part, or combination thereof, but are intended to indicate the presence of one or more other features, numbers, or steps. , it should be understood that it does not exclude in advance the possibility of the existence or addition of operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms as defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings they have in the context of the related technology, and unless clearly defined in this specification, should not be interpreted in an idealized or overly formal sense. No.

Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the accompanying drawings, identical components will be assigned the same reference numerals regardless of the reference numerals, and overlapping descriptions thereof will be omitted.

Figure 1 is an exemplary diagram explaining the position control process of the bone bone robot. Referring to FIG. 1, a deboning robot 100 is shown that deboning target meat 1000 into edible meat parts. The deboning robot 100 may include a cutting unit 110 for cutting and deboning the target meat 1000 and a plurality of

joint units

121, 122, 123, 124, and 125. The cutting unit 110 is connected to one end of the deboning robot and may include a cutting blade for cutting the target meat 1000. The other end of the cutting part 110 is connected to the first joint part 121 that is rotatable (swivelable), and can be controlled to be inserted into the target meat 1000 at a desired angle.

Although not shown in FIG. 1, each of the plurality of

joints

121, 122, 123, 124, and 125 may include a shaft that rotates around a predetermined rotation axis. The deboning robot 100 is controlled to move along a candidate path defined on the target meat 1000 according to the results of the rotational movements of each of the plurality of

joints

121, 122, 123, 124, and 125. Since the specific structure implemented so that each of the plurality of

joints

121, 122, 123, 124, and 125 can rotate is obvious to those skilled in the art, a detailed description will be omitted.

Each of the plurality of

joints

121, 122, 123, 124, and 125 may include a sensor for measuring the torque opposing the angle at which the cutting part 110 of the deboning robot 100 is inserted into one cross-section of the target meat. Although not shown in FIG. 1, the position control device of the deboning robot 100 compares the size of the force (=repulsion force) opposing the angle at which the cutting part 110 is inserted into one cross-section of the target meat with a preset threshold to determine a candidate path. can be modified. Below, the process by which the position control device of the deboning robot 100 corrects the candidate path is described in more detail along with additional drawings.

Figure 2 is a block diagram for explaining the position control device of the deboning robot. Referring to FIG. 2, the position control device 200 of the deboning robot may include a first sensor unit 210, a second sensor unit 220, a position calculation unit 230, and a control unit 240. The first sensor unit 210 is disposed on the front part of the deboning robot and can acquire image data including target meat and one end of the deboning robot. As an example, the first sensor unit 210 may be implemented as an RGB camera for acquiring image data. Additionally, as another example, the first sensor unit 210 may be implemented as an RGB-D camera that acquires depth information as well as RGB color data for the target meat. More specifically, the first sensor unit 210 may acquire image data including the area where the cutting part of the deboning robot contacts one cross-section of the target meat.

The second sensor unit 220 may be disposed on each joint part of the debossing robot. As an example, the second sensor unit 220 may be implemented as an inertial sensor for measuring angular momentum and movement displacement obtained from each joint unit. The second sensor unit 220 may measure the magnitude of force (=repulsion force) corresponding to the angle at which the cutting part of the deboning robot is inserted into one cross section of the target meat based on a predefined calculation. The calculation process of the second sensor unit 220 will be described in more detail with the drawings described later.

The position calculation unit 230 may calculate a plurality of position vectors based on the displacement between the position of the cutting part of the deboning robot and the position of each of the joint parts. More specifically, the plurality of position vectors may include, as an element, a displacement of the position of the cut portion of the debossing robot from the position of each joint portion at a specific point in time.

The control unit 240 may set a candidate path corresponding to a designated part of the target meat using the acquired image data. More specifically, the control unit 240 may extract feature points set for each part of the target meat from the image data acquired from the first sensor unit 210. For example, the beef stew used in bone soup or seolleongtang refers to the meat attached to the forearm bone of the front leg or the lower thigh bone of the hind leg. Accordingly, the control unit 240 may use the upper end of the forearm bone or the lower end of the lower leg bone as a feature point to extract the accident site from the image data acquired by the first sensor unit 210.

The control unit 240 can set a candidate path corresponding to a specific region using a look-up table in which feature points corresponding to each region are stored. By way of example, but not limitation, the look-up table may be implemented as follows.

타깃 부위target area	특징점Features	후보 경로candidate path
사태situation	전완골 상단부 하퇴골 상단부upper part of the forearm upper part of the lower thigh	루트 Aroute A
우둔stupidity	꼬리뼈 시작부beginning of the tailbone	루트 Broute B
등심sirloin	흉추골 갈비뼈 상단부thoracic vertebrae upper ribs	루트 Croot C
갈비rib	갈비뼈 상단부 갈비뼈 하단부upper ribs lower part of the ribs	루트 Droot D
......	......	......

The above technical contents are explained in more detail with additional drawings.

Figure 3 is an exemplary diagram showing a candidate path for movement of a deboning robot set to correspond to a split meat portion of a cow. Referring to Figure 3, pork loin (310), sirloin (320), loin end (330), tenderloin (340), rump (350), front leg (360), ribs (370), brisket (380), and tongue (390). , each candidate path set according to

events

391 and 392 is shown. The control unit 240 may check pre-stored feature points corresponding to each part from the image data and set a candidate path for movement of the cutting part of the debossing robot suitable for the corresponding part.

However, depending on the growth condition or type of cow, the size of each part may be different and the location of the bone may be slightly different. Therefore, in order for the deboning robot to cut the target meat according to the purpose of each part, there is a need to modify the candidate path to suit the target meat. Therefore, the control unit 240 compares the angle at which the cut part is inserted into one cross-section of the target meat with the size of the repulsion force opposing the 180-degree scale and a preset threshold to recognize whether the cut part is in contact with the bone and modify the candidate path. there is. Below, along with additional drawings, the process by which the bone robot modifies the candidate path and sets a new detour path is explained.

Figure 4 is a flowchart explaining the process by which the position control device of the deboning robot calculates the repulsion force from a designated part of the target meat and adjusts the candidate path. Referring to FIG. 4, a method 400 in which the control unit included in the position control device of the deboning robot adjusts the candidate path of the cutting part according to the repulsive force measured from the designated part of the target meat is described. The method 400 for adjusting the candidate path of the cutting part of the deboning robot includes the step of performing a calculation corresponding to a predetermined equation of motion based on the torques and position vectors measured at each joint part (410), a cross section of the target meat It may include calculating the magnitude of the force opposing the angle inserted in (420) and comparing the magnitude of the calculated force with a preset threshold (430).

In step 410, the control unit may receive the torque (τ ₁ , τ ₂ , τ ₃ , ..., τ _n ) measured at each joint from the second sensor unit. Additionally, the control unit may receive a plurality of position vectors representing the displacement between the position of the cutting part of the deboning robot and the position of each joint part from the position calculation unit.

The control unit may calculate the Lagrangian for the debossed robot having a plurality of joints according to the Lagrange equation of motion defined as Equation 1 above. In Equation 1 above, i is an index corresponding to each joint, and τ _i represents the torque measured at the ith joint. q _i is a displacement value corresponding to the difference between the position of the i-th joint and the position of the cutting part of the debossing robot,

represents the acceleration value obtained by differentiating q _i according to time. Additionally, L represents the Lagrangian defined as the difference between the kinetic energy and potential energy of the cutting part of the deboning robot.

In addition, the kinetic energy T(q,

) is defined as Equation 2 below.

In Equation 2, M(q) represents the moment of inertia of the deboning robot. When Equation 2 for kinetic energy is applied to Equation 1, the torque corresponding to each joint is defined as Equation 3 below. The dynamic relationship equation can be derived.

In Equation 3 above, C(q,

)

represents the Coriolis vector, and g(q) represents the gravitational vector as potential energy. By using the torques and position vectors measured at each of the joints as described above, the position control device of the deboning robot can calculate the repulsive force at the cutting portion corresponding to the end effector of the deboning robot.

In the above example, the process of deriving Equation 3 from Lagrange's equations of motion is explained to aid understanding, but it will be obvious to those skilled in the art that Equation 3 can be derived from Newton-Euler's equations of motion.

As another example, the position control device of the bone bone robot may measure the force at the end effector through the third sensor unit disposed on the cutting part of the bone bone robot. Exemplarily, the third sensor unit may be implemented as a force-torque sensor.

The control unit of the position control device may perform the calculation of a correlation matrix representing the internal force interaction of the joint portion of the foot bone robot with the Lagrange equation of motion defined as Equation 1 above.

In step 420, the control unit of the position control device may calculate the magnitude of the force opposing the angle at which the cutting part of the deboning robot is inserted into one cross section of the target meat. Specifically, based on the calculation performed in step 410, the controller may calculate the repulsive force measured at the cut portion representing the distal end of the deboning robot. The repulsive force may represent the magnitude of the force opposing the angle at which the cutting part (eg, blade) of the deboning robot is inserted into one cross section of the target meat.

In step 430, the controller may compare the calculated magnitude of force with a preset threshold. More specifically, the preset threshold is the first repulsion force when the cutting part of the deboning robot is inserted into the muscle part of the target meat, the second repulsion force when the cutting part of the deboning robot is inserted into the fat part of the target meat, and the It can be set based on the third reaction force when inserted into the bone area. The control unit may set a section within an error range from the third repulsion force experimentally measured a predetermined number of times to a preset threshold to determine the bone portion of the target meat.

Accordingly, if the magnitude of the force opposing the angle at which the cutting part is inserted into one cross-section of the target meat is greater than or equal to a preset threshold, the control unit may determine the contacted area as a bone. In this case, the control unit may set a new detour route corresponding to the designated part of the target meat.

As an example, the controller may determine a preset detour radius corresponding to a designated part of the target meat. Additionally, the control unit may modify the candidate path so that the cutting unit moves evasively according to the detour radius around the determined position within the candidate path. More specifically, the control unit may control the avoidance movement of the cut portion by inserting an additional path corresponding to a semicircle or fan-shaped arc corresponding to the bypass radius on the candidate path into the candidate path, centering on the area determined to be a bone. . This part is explained in detail with additional drawings below.

Figure 5 is an example diagram illustrating a process in which the position control device of the bone robot performs an avoidance movement according to the detour radius. Referring to FIG. 5, a preset candidate path 510 for deboning the affected area is shown. The deboning robot may come into contact with the cow's lower leg bone while cutting the affected area. In this case, the position control device of the deboning robot may induce avoidance movement of the cut portion according to the bypass radius corresponding to the lower leg of the cow. More specifically, the position control device of the debossing robot can induce avoidance movement of the cut portion by inserting an additional path 520 corresponding to the bypass radius determined in response to the cow's lower leg into the candidate path 510 and modifying the path. there is. Accordingly, the deboning robot moves evasively along the additional path 520 rather than the existing candidate path 510, which has a high possibility of additional contact with the bone, to prevent damage to the cut part due to contact with the bone, thereby removing the target meat. Deboning can be performed.

Returning to FIG. 4, the avoidance route setting process of the control unit will be further explained. As another example, the control unit may modify the candidate path using a look-up table for the bypass radius set to correspond to the average size of bones existing in the designated area. By way of example, but not limitation, the look-up table may be stored and managed as shown in Table 2 below.

타깃 부위target area	뼈 종류bone type	뼈 길이bone length	우회 반경bypass radius
사태situation	하퇴골lower thigh	60~70cm60~70cm	6.5cm6.5cm
갈비rib	갈비뼈ribs	10~13cm10~13cm	1.2cm1.2cm
......	......	......	......

Depending on the target area, the type of bone that the cutting part of the debossing robot comes into contact with may differ. Accordingly, the control unit can apply each bypass radius based on the average size of the bone contacted in the target area and a look-up table set correspondingly. The control unit may support deboning of target meat by inserting an additional path in the shape of a semicircle or fan-shaped arc corresponding to the size of the bypass radius set for each target part into the candidate path.

The embodiments described above may be implemented with hardware components, software components, and/or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, and a field programmable gate array (FPGA). ), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. A processing device may execute an operating system (OS) and one or more software applications that run on the operating system. Additionally, a processing device may access, store, manipulate, process, and generate data in response to the execution of software. For ease of understanding, a single processing device may be described as being used; however, those skilled in the art will understand that a processing device includes multiple processing elements and/or multiple types of processing elements. It can be seen that it may include. For example, a processing device may include a plurality of processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are possible.

Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing unit to operate as desired, or may be processed independently or collectively. You can command the device. Software and/or data may be used on any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or to provide instructions or data to a processing device. , or may be permanently or temporarily embodied in a transmitted signal wave. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. Computer-readable media may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on a computer-readable medium may be specially designed and configured for an embodiment or may be known and usable by those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Claims

In the position control device for the deboning robot,

A first sensor unit that acquires image data including a portion where the cutting portion of the deboning robot contacts a cross-section of the target meat;

a control unit that sets a candidate path corresponding to a designated part of the target meat using the acquired image data; and

A second sensor unit that measures the magnitude of the force opposing the angle at which the cutting part of the deboning robot is inserted into one cross section of the target meat from each joint of the deboning robot.

Including,

The control unit,

A position control device for a deboning robot that corrects the candidate path by comparing the magnitude of the force opposing the angle inserted into one cross section of the target meat with a preset threshold.
According to paragraph 1,

A position calculation unit that calculates a plurality of position vectors based on the displacement between the position of the cutting part of the deboning robot and the position of each of the joint parts.

It further includes,

The second sensor unit,

Characterized by calculating the magnitude of the force opposing the angle inserted into one cross-section of the target meat by performing an operation corresponding to a predetermined equation of motion based on the torques measured at each of the joints and the position vectors. A position control device for a deboning robot.
According to paragraph 1,

The control unit,

When the magnitude of the force opposing the angle inserted into one cross-section of the target meat is greater than the preset threshold, the contacted area is determined as a bone, and a detour path corresponding to the designated area of the target meat is determined. A position control device for a bone robot that sets a new position.
According to paragraph 3,

The control unit,

Position control of a deboning robot that determines a preset bypass radius in response to a designated part of the target meat and modifies the candidate path so that the cutting part moves evasively according to the bypass radius around the position determined to be a bone within the candidate path. Device.
According to paragraph 4,

The control unit,

A position control device for a deboning robot that modifies the candidate path so that the cutting unit moves evasively according to a bypass radius set in response to the average size of bones present in a designated portion of the target meat.